Go to Catherdral Cafe in Fayetteville and buy the official Gauley map. It has all of the access roads and descriptions for hike and drive in points. Pillow Rock and Sweets Falls are very accessible.
You should take a raft trip down though. It's really the best way to see it if you're not a hard boater! If you go with West Virginia Adventures (
www.trywva.com) you can have lunch right on Postage Due Rock and take carnage photos at Sweet's!